feat: 新增指令接口/工艺/基质/日志

sql/init.sql

@@ -50,7 +50,7 @@ CREATE TABLE IF NOT EXISTS matrix_craft
     name                    TEXT NOT NULL,
     matrix_id               INTEGER NOT NULL,
     route_type              INTEGER,
-    z_height                INTEGER,
+    height                INTEGER,
     nitrogen_flow_velocity  INTEGER,
     nitrogen_air_pressure   INTEGER,
     matrix_flow_velocity    INTEGER,
@@ -62,21 +62,11 @@ CREATE TABLE IF NOT EXISTS matrix_craft
     update_time             TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 );
 
--- 创建 syringe 注射器表
-CREATE TABLE IF NOT EXISTS syringe
-(
-    id                INTEGER PRIMARY KEY AUTOINCREMENT,
-    flow_rate         INTEGER,
-    fluid_volume      INTEGER,
-    run_time          INTEGER,
-    cycle_intervals   INTEGER
-);
-
 -- 创建 operation_log 操作记录表
 CREATE TABLE IF NOT EXISTS operation_log
 (
     id                INTEGER PRIMARY KEY AUTOINCREMENT,
-    matrix_craft_id   INTEGER,
+    matrix_id         INTEGER,
     matrix_info       TEXT,
     status            INTEGER,
     create_user       INTEGER,
@@ -93,3 +83,20 @@ CREATE TABLE IF NOT EXISTS sys_settings
     code        TEXT,
     value       TEXT
 );
+
+
+-- 插入 sys_settings 表数据
+INSERT INTO sys_settings (id, parent_id, name, code, value)
+VALUES (1, NULL, '玻片位置', 'slide_position', NULL),
+       (2, 1, '玻片1位置', 'slide_position1', '1,2,3'),
+       (3, 1, '玻片2位置', 'slide_position2', '1,2,3'),
+       (4, 1, '玻片3位置', 'slide_position3', '1,2,3'),
+       (5, 1, '玻片4位置', 'slide_position4', '1,2,3'),
+       (6, NULL, '电机电流', 'current', NULL),
+       (7, 6, 'x轴电流', 'x_current', 2),
+       (8, 6, 'y轴电流', 'y_current', 3),
+       (9, 6, 'z轴电流', 'z_current', 4),
+       (10, NULL, '电机运行速度', 'speed', NULL),
+       (11, 10, 'x轴速度', 'x_speed', 10),
+       (12, 10, 'y轴速度', 'y_speed', 10),
+       (13, 10, 'z轴速度', 'z_speed', 10);

src/main/java/com/qyft/ms/app/common/generator/PathGenerator.java

@@ -49,7 +49,8 @@ public class PathGenerator {
     ) {
         // 基本校验
         if (left >= right || bottom >= top) {
-            throw new IllegalArgumentException("无效矩形边界: left>=right 或 bottom>=top");
+
+            throw new IllegalArgumentException("无效矩形边界: left>=right 或 bottom>=top" + left + ", " + right + " ," + bottom + ", " + top);
         }
         if (spacing <= 0) {
             throw new IllegalArgumentException("spacing必须>0");

src/main/java/com/qyft/ms/app/controller/CMDController.java

@@ -8,6 +8,7 @@ import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.core.annotation.Order;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
@@ -24,16 +25,250 @@ public class CMDController {
 
     private final CMDService cmdService;
 
-    @Operation(summary = "执行指令")
-    @PostMapping("/execute")
-    public Result<String> execute(@RequestBody CMDForm cmdForm) {
+    @Operation(summary = "控制电机")
+    @PostMapping("/moveMotorToPosition")
+    public Result<String> moveMotorToPosition(@RequestBody CMDForm cmdForm) {
         try {
+
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("moveMotorToPosition");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.moveMotorToPosition(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("无效命令");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
+    @Operation(summary = "三通阀切换")
+    @PostMapping("/switchThreeWayValve")
+    public Result<String> switchThreeWayValve(@RequestBody CMDForm cmdForm) {
+        try {
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("switchThreeWayValve");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.switchThreeWayValve(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("无效命令");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
+    @Operation(summary = "除湿阀、清洗阀、喷嘴阀控制")
+    @PostMapping("/controlValve")
+    public Result<String> controlValve(@RequestBody CMDForm cmdForm) {
+        try {
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("controlValve");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.controlValve(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("无效命令");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
+    @Operation(summary = "以指定电压值开启高压电")
+    @PostMapping("/turnOnHighVoltage")
+    public Result<String> turnOnHighVoltage(@RequestBody CMDForm cmdForm) {
+        try {
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("turnOnHighVoltage");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.turnOnHighVoltage(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("无效命令");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
+    @Operation(summary = "关闭高压电")
+    @PostMapping("/turnOffHighVoltage")
+    public Result<String> turnOffHighVoltage(@RequestBody CMDForm cmdForm) {
+        try {
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("turnOffHighVoltage");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.turnOffHighVoltage(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("无效命令");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
+    @Operation(summary = "以指定转速、方向和时间开启注射泵")
+    @PostMapping("/turnOnSyringePump")
+    public Result<String> turnOnSyringePump(@RequestBody CMDForm cmdForm) {
+        try {
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("turnOnSyringePump");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.turnOnSyringePump(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("无效命令");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
+    @Operation(summary = "停止注射泵")
+    @PostMapping("/turnOffSyringePump")
+    public Result<String> turnOffSyringePump(@RequestBody CMDForm cmdForm) {
+        try {
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("turnOffSyringePump");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.turnOffSyringePump(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("无效命令");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
+    @Operation(summary = "开始喷涂")
+    @PostMapping("/startWork")
+    public Result<String> startWork(@RequestBody CMDForm cmdForm) {
+        try {
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("startWork");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.startWork(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("无效命令");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
+    @Operation(summary = "结束喷涂")
+    @PostMapping("/stopWork")
+    public Result<String> stopWork(@RequestBody CMDForm cmdForm) {
+        try {
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
                 String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("stopWork");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.stopWork(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("无效命令");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
+    @Operation(summary = "设置指定轴的电机运行时电流")
+    @PostMapping("/setMotorRunningCurrent")
+    public Result<String> setMotorRunningCurrent(@RequestBody CMDForm cmdForm) {
+        try {
             if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
                 cmdForm.setCommandId(commandId);
             }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("setMotorRunningCurrent");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.setMotorRunningCurrent(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("无效命令");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
+    @Operation(summary = "测试: 以指定转速运行指定时间")
+    @PostMapping("/rotate")
+    public Result<String> rotate(@RequestBody CMDForm cmdForm) {
+        try {
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("rotate");
+            }
             log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
-            if (cmdService.executeCommand(cmdForm)) {
+            if (cmdService.rotate(cmdForm)) {
                 return Result.success(cmdForm.getCommandId());
             } else {
                 return Result.failed("无效命令");

src/main/java/com/qyft/ms/app/controller/LogsController.java

@@ -1,55 +0,0 @@
-package com.qyft.ms.app.controller;
-
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
-import com.qyft.ms.app.model.entity.Logs;
-import com.qyft.ms.app.service.ILogsService;
-import com.qyft.ms.system.common.base.BasePageQuery;
-import com.qyft.ms.system.common.result.PageResult;
-import com.qyft.ms.system.common.result.Result;
-import io.swagger.v3.oas.annotations.Operation;
-import io.swagger.v3.oas.annotations.Parameter;
-import io.swagger.v3.oas.annotations.tags.Tag;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.web.bind.annotation.*;
-
-import java.util.Arrays;
-import java.util.List;
-import java.util.stream.Collectors;
-
-@Tag(name = "日志")
-@RestController
-@RequestMapping("/api/logs")
-@RequiredArgsConstructor
-@Slf4j
-public class LogsController {
-    private final ILogsService logsService;
-
-    @Operation(summary = "日志列表")
-    @GetMapping("/list")
-    public PageResult<Logs> getAllTasks(BasePageQuery pageQuery) {
-
-        return PageResult.success(logsService.page(new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize())));
-    }
-
-    @Operation(summary = "日志新增")
-    @PostMapping("/add")
-    public Result<Integer> add(String log) {
-        return Result.success(logsService.insertLog(log));
-    }
-
-    @Operation(summary = "日志详情")
-    @GetMapping("/")
-    public Result<Logs> detail(@RequestParam Long id) {
-        return Result.success(logsService.getBaseMapper().selectById(id));
-    }
-
-    @Operation(summary = "删除日志")
-    @DeleteMapping("/{ids}")
-    public Result<Boolean> deleteLog(@Parameter(description = "日志ID，多个以英文逗号(,)分割") @PathVariable String ids) {
-        List<Long> idsArr = Arrays.stream(ids.split(","))
-                .map(Long::parseLong)
-                .collect(Collectors.toList());
-        return Result.success(logsService.removeByIds(idsArr));
-    }
-}

src/main/java/com/qyft/ms/app/controller/MatrixController.java

@@ -0,0 +1,56 @@
+package com.qyft.ms.app.controller;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.qyft.ms.app.model.entity.Matrix;
+import com.qyft.ms.app.service.MatrixService;
+import com.qyft.ms.system.common.base.BasePageQuery;
+import com.qyft.ms.system.common.result.PageResult;
+import com.qyft.ms.system.common.result.Result;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+
+@Tag(name = "基质")
+@RestController
+@RequestMapping("/api/matrix")
+@RequiredArgsConstructor
+@Slf4j
+public class MatrixController {
+
+    private final MatrixService matrixService;
+
+    @Operation(summary = "新增基质")
+    @PostMapping("/add")
+    public Result<Integer> add(@RequestBody Matrix matrix) {
+        return Result.success(matrixService.addMatrix(matrix));
+
+    }
+
+    @Operation(summary = "基质详情")
+    @GetMapping("/{id}")
+    public Result<Matrix> getMatrixById(@PathVariable Integer id) {
+        return Result.success(matrixService.getById(id));
+    }
+
+    @Operation(summary = "基质列表")
+    @GetMapping("/list")
+    public PageResult<Matrix> getAll(BasePageQuery pageQuery) {
+        IPage<Matrix> result = matrixService.page(new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize()), null);
+        return PageResult.success(result);
+    }
+
+    @Operation(summary = "基质更新")
+    @PutMapping
+    public Result<Boolean> update(@RequestBody Matrix matrix) {
+        return Result.success(matrixService.updateMatrix(matrix));
+    }
+
+    @Operation(summary = "基质删除")
+    @DeleteMapping("/{ids}")
+    public Result<Boolean> deleteMatrix(@PathVariable String ids) {
+        return Result.success(matrixService.deleteMatrix(ids));
+    }
+}

src/main/java/com/qyft/ms/app/controller/MatrixCraftController.java

@@ -0,0 +1,72 @@
+package com.qyft.ms.app.controller;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.qyft.ms.app.model.dto.MatrixCraftDTO;
+import com.qyft.ms.app.model.entity.Matrix;
+import com.qyft.ms.app.model.entity.MatrixCraft;
+import com.qyft.ms.app.service.MatrixCraftService;
+import com.qyft.ms.system.common.base.BasePageQuery;
+import com.qyft.ms.system.common.result.PageResult;
+import com.qyft.ms.system.common.result.Result;
+import com.qyft.ms.system.model.entity.User;
+import com.qyft.ms.system.service.IUserService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+
+@Tag(name = "基质工艺")
+@RestController
+@RequestMapping("/api/matrixCraft")
+@RequiredArgsConstructor
+@Slf4j
+public class MatrixCraftController {
+
+    private final MatrixCraftService matrixCraftService;
+    private final IUserService iUserService;
+
+    @Operation(summary = "新增基质工艺")
+    @PostMapping("/add")
+    public Result<Integer> add(@RequestBody MatrixCraftDTO dto) {
+        User user = iUserService.currentUser();
+        if (user != null) {
+            dto.setCreateUser(user.getId());
+        }
+        return Result.success(matrixCraftService.add(dto));
+    }
+
+    @Operation(summary = "基质工艺详情")
+    @GetMapping("/{id}")
+    public Result<MatrixCraft> getCraftById(@PathVariable Long id) {
+        return Result.success(matrixCraftService.getCraftById(id));
+    }
+
+    @Operation(summary = "基质工艺列表")
+    @GetMapping("/getListByMatrixId/{matrixId}")
+    public Result<List<MatrixCraft>> getListByMatrixId(@PathVariable Long matrixId) {
+        return Result.success(matrixCraftService.getListByMatrixId(matrixId));
+    }
+
+    @Operation(summary = "所有工艺列表")
+    @GetMapping("/list")
+    public PageResult<MatrixCraft> getAll(BasePageQuery pageQuery) {
+        IPage<MatrixCraft> result = matrixCraftService.page(new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize()), null);
+        return PageResult.success(result);
+    }
+
+    @Operation(summary = "基质工艺更新")
+    @PutMapping
+    public Result<Boolean> update(@RequestBody MatrixCraft matrixCraft) {
+        return Result.success(matrixCraftService.updateMatrixCraft(matrixCraft));
+    }
+
+    @Operation(summary = "基质删除")
+    @DeleteMapping("/{ids}")
+    public Result<Boolean> deleteMatrixCraft(@PathVariable String ids) {
+        return Result.success(matrixCraftService.deleteMatrixCraft(ids));
+    }
+}

src/main/java/com/qyft/ms/app/controller/OperationLogController.java

@@ -0,0 +1,66 @@
+package com.qyft.ms.app.controller;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.qyft.ms.app.model.entity.Matrix;
+import com.qyft.ms.app.model.entity.OperationLog;
+import com.qyft.ms.app.service.OperationLogService;
+import com.qyft.ms.system.common.base.BasePageQuery;
+import com.qyft.ms.system.common.result.PageResult;
+import com.qyft.ms.system.common.result.Result;
+import com.qyft.ms.system.model.entity.User;
+import com.qyft.ms.system.service.IUserService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+
+@Tag(name = "操作记录")
+@RestController
+@RequestMapping("/api/log")
+@RequiredArgsConstructor
+@Slf4j
+public class OperationLogController {
+    private final OperationLogService op;
+    private final IUserService userService;
+    @Operation(summary = "新增日志")
+    @PostMapping("/add")
+    public Result<Integer> add(@RequestBody OperationLog operationLog) {
+        User user = userService.currentUser();
+        if (user != null) {
+            operationLog.setCreateUser(user.getId());
+        }
+        return Result.success(op.add(operationLog));
+    }
+
+    @Operation(summary = "日志详情")
+    @GetMapping("/{id}")
+    public Result<OperationLog> getLogById(@PathVariable Integer id) {
+        return Result.success(op.getLogById(id));
+    }
+
+    @Operation(summary = "日志列表")
+    @GetMapping("/list")
+    public PageResult<OperationLog> getAll(BasePageQuery pageQuery) {
+        return PageResult.success(op.getAll(pageQuery));
+    }
+
+    @Operation(summary = "获取进行中的喷涂任务")
+    @GetMapping("/getIng")
+    public Result<OperationLog> getIng() {
+        return Result.success(op.getIng());
+    }
+
+    @Operation(summary = "日志更新")
+    @PutMapping
+    public Result<Boolean> update(@RequestBody OperationLog operationLog) {
+        return Result.success(op.updateById(operationLog));
+    }
+
+    @Operation(summary = "日志删除")
+    @DeleteMapping("/{ids}")
+    public Result<Boolean> deleteLog(@PathVariable String ids) {
+        return Result.success(op.deleteLog(ids));
+    }
+}

src/main/java/com/qyft/ms/app/controller/SysSettingsController.java

@@ -19,38 +19,4 @@ import java.util.List;
 @RequiredArgsConstructor
 @Slf4j
 public class SysSettingsController {
-    private final ISysSettingsService sysSettingsService;
-
-    @Operation(summary = "获取配置")
-    @GetMapping("/getConfig")
-    public Result<List<?>> getConfig(
-            @Parameter(
-                    description = "配置类型(heat_area 工作区配置 solution_area 加液区配置 lid_area 拍子区域配置 sys_setting 其他系统配置)"
-            )
-            @RequestParam
-            @Nullable
-            String type
-    ) {
-        if (type == null) {
-            return Result.success(sysSettingsService.getAllConfig());
-        } else {
-            return Result.success(sysSettingsService.getConfig(type));
-        }
-    }
-
-    @Operation(summary = "更新配置")
-    @PutMapping("/updateConfig")
-    public Result<String> updateConfig(@RequestBody List<SysSettingsDTO> dto) {
-        return Result.failed();
-    }
-
-    @Operation(summary = "修改系统日期与时间（Linux date -s）")
-    @PutMapping("/setSysDate/{newTime}")
-    public Result<String> setSysDate(@Parameter(description = "时间字符串 YYYY-MM-DD HH:mm:ss") @PathVariable String newTime) {
-        boolean isSuccess = sysSettingsService.setSysDate(newTime);
-        if (isSuccess) {
-            return Result.success();
-        }
-        return Result.failed();
-    }
 }

src/main/java/com/qyft/ms/app/mapper/MatrixCraftMapper.java

@@ -0,0 +1,18 @@
+package com.qyft.ms.app.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.qyft.ms.app.model.dto.MatrixCraftDTO;
+import com.qyft.ms.app.model.entity.MatrixCraft;
+import org.apache.ibatis.annotations.Mapper;
+
+import java.util.List;
+
+/**
+ * 基质持久层接口
+ */
+@Mapper
+public interface MatrixCraftMapper extends BaseMapper<MatrixCraft> {
+    List<MatrixCraft> getListByMatrixId(Long matrixId);
+
+    Integer add(MatrixCraftDTO dto);
+}

src/main/java/com/qyft/ms/app/mapper/LogsMapper.java → src/main/java/com/qyft/ms/app/mapper/MatrixMapper.java

@@ -1,12 +1,12 @@
 package com.qyft.ms.app.mapper;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
-import com.qyft.ms.app.model.entity.Logs;
+import com.qyft.ms.app.model.entity.Matrix;
 import org.apache.ibatis.annotations.Mapper;
 
 /**
- * 日志持久层接口
+ * 基质持久层接口
  */
 @Mapper
-public interface LogsMapper extends BaseMapper<Logs> {
+public interface MatrixMapper extends BaseMapper<Matrix> {
 }

src/main/java/com/qyft/ms/app/mapper/OperationLogMapper.java

@@ -0,0 +1,13 @@
+package com.qyft.ms.app.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.qyft.ms.app.model.entity.OperationLog;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 基质持久层接口
+ */
+@Mapper
+public interface OperationLogMapper extends BaseMapper<OperationLog> {
+
+}

src/main/java/com/qyft/ms/app/mapper/SysSettingsMapper.java

@@ -20,10 +20,5 @@ import java.util.List;
 
 @Mapper
 public interface SysSettingsMapper extends BaseMapper<SysSettings> {
-    List<SysSettingVO> getConfig(String type);
-
-    void updateById(SysSettingsDTO dto);
-
-    int getIdByCode(String type);
 }
 

src/main/java/com/qyft/ms/app/model/dto/MatrixCraftDTO.java

@@ -0,0 +1,42 @@
+package com.qyft.ms.app.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+
+@Data
+public class MatrixCraftDTO {
+
+    @Schema(description = "名称")
+    private String name;
+
+    @Schema(description = "基质id")
+    private Long matrixId;
+
+    @Schema(description = "路径类型 0 竖向 1 横向")
+    private Integer routeType;
+
+    @Schema(description = "喷涂高度")
+    private Integer height;
+
+    @Schema(description = "氮气流速")
+    private Integer nitrogenFlowVelocity;
+
+    @Schema(description = "氮气气压")
+    private Integer nitrogenAirPressure;
+
+    @Schema(description = "基质流速")
+    private Integer matrixFlowVelocity;
+
+    @Schema(description = "电压")
+    private Integer voltage;
+
+    @Schema(description = "移速")
+    private Integer movementSpeed;
+
+    @Schema(description = "行间距")
+    private Integer space;
+
+    @Schema(description = "创建人")
+    private Long createUser;
+}

src/main/java/com/qyft/ms/app/model/entity/Matrix.java

@@ -0,0 +1,19 @@
+package com.qyft.ms.app.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.qyft.ms.system.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "基质类型")
+@TableName("matrix")
+@Data
+public class Matrix extends BaseEntity {
+
+    @NotBlank
+    @Schema(description = "名称")
+    private String name;
+}

src/main/java/com/qyft/ms/app/model/entity/MatrixCraft.java

@@ -0,0 +1,58 @@
+package com.qyft.ms.app.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.qyft.ms.system.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "基质工艺")
+@TableName("matrix_craft")
+@Data
+public class MatrixCraft extends BaseEntity {
+
+    @NotBlank
+    @Schema(description = "名称")
+    private String name;
+
+    @NotBlank
+    @Schema(description = "基质id")
+    private Long matrixId;
+
+    @NotBlank
+    @Schema(description = "路径类型 0 竖向 1 横向")
+    private Integer routeType;
+
+    @NotBlank
+    @Schema(description = "喷涂高度")
+    private Integer height;
+
+    @NotBlank
+    @Schema(description = "氮气流速")
+    private Integer nitrogenFlowVelocity;
+    @NotBlank
+    @Schema(description = "氮气气压")
+    private Integer nitrogenAirPressure;
+
+    @NotBlank
+    @Schema(description = "基质流速")
+    private Integer matrixFlowVelocity;
+
+    @NotBlank
+    @Schema(description = "电压")
+    private Integer voltage;
+
+    @NotBlank
+    @Schema(description = "移速")
+    private Integer movementSpeed;
+
+    @NotBlank
+    @Schema(description = "行间距")
+    private Integer space;
+
+    @NotBlank
+    @Schema(description = "创建人")
+    private Long createUser;
+}

src/main/java/com/qyft/ms/app/model/entity/Logs.java → src/main/java/com/qyft/ms/app/model/entity/OperationLog.java

@@ -1,30 +1,30 @@
 package com.qyft.ms.app.model.entity;
 
 import com.baomidou.mybatisplus.annotation.TableName;
+import com.qyft.ms.system.common.base.BaseEntity;
 import io.swagger.v3.oas.annotations.media.Schema;
 import jakarta.validation.constraints.NotBlank;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
 
 @EqualsAndHashCode(callSuper = false)
-@Schema(description = "日志")
-@TableName("logs")
+@Schema(description = "操作记录")
+@TableName("operation_log")
 @Data
-public class Logs {
+public class OperationLog extends BaseEntity {
 
-    @NotBlank
-    @Schema(description = "id")
-    private Long id;
+    @Schema(description = "所选基质")
+    private Long matrixId;
 
     @NotBlank
-    @Schema(description = "创建人")
-    private Long createUser;
+    @Schema(description = "工艺参数")
+    private String matrixInfo;
 
     @NotBlank
-    @Schema(description = "日志内容")
-    private String text;
+    @Schema(description = "完成状态 0 进行中 1 已完成")
+    private Integer status;
 
     @NotBlank
-    @Schema(description = "创建时间")
-    private String createTime;
+    @Schema(description = "创建人")
+    private Long createUser;
 }

src/main/java/com/qyft/ms/app/model/entity/SysSettings.java

@@ -32,12 +32,6 @@ public class SysSettings {
     private String code;
 
     @Schema(description = "配置值")
-    private String value1;
-
-    @Schema(description = "配置值")
-    private String value2;
-
-    @Schema(description = "配置值")
-    private String value3;
+    private String value;
 
 }

src/main/java/com/qyft/ms/app/model/form/CMDForm.java

@@ -5,6 +5,7 @@ import jakarta.validation.constraints.NotBlank;
 import lombok.Data;
 
 import java.util.List;
+import java.util.Map;
 
 @Schema(description = "指令")
 @Data
@@ -14,10 +15,10 @@ public class CMDForm {
     private String commandId;
 
     @NotBlank()
-    @Schema(description = "指令类型", example = "upTray")
-    private String command;
+    @Schema(description = "指令类型", example = "moveMotorToPosition")
+    private String commandName;
 
     @Schema(description = "参数")
-    private List<Object> params;
+    private Map<String, Object> params;
 
 }

src/main/java/com/qyft/ms/app/model/vo/SysSettingVO.java

@@ -11,10 +11,10 @@ import java.util.List;
 public class SysSettingVO {
 
     @Schema(description = "主键id")
-    private int id;
+    private Long id;
 
     @Schema(description = "父id")
-    private int parentId;
+    private Long parentId;
 
     @Schema(description = "名称")
     private String name;
@@ -25,19 +25,4 @@ public class SysSettingVO {
     @Schema(description = "配置值")
     private String value;
 
-    @Schema(description = "设备id")
-    private String hardwareId;
-
-    @Schema(description = "加热区温度")
-    private String temperature;
-
-    @Schema(description = "工艺id")
-    private int craftId;
-
-    @Schema(description = "试管坐标list")
-    private List<String> tubePositionList;
-
-    @Schema(description = "拍子坐标")
-    private String LidPosition;
-
 }

src/main/java/com/qyft/ms/app/service/CMDService.java

@@ -1,31 +1,274 @@
 package com.qyft.ms.app.service;
 
 import cn.hutool.json.JSONUtil;
+import com.alibaba.fastjson.JSON;
 import com.qyft.ms.app.common.constant.WebSocketMessageType;
+import com.qyft.ms.app.common.generator.PathGenerator;
 import com.qyft.ms.app.common.result.CMDResultCode;
-import com.qyft.ms.device.model.bo.DeviceCtrlFuncCMD;
+import com.qyft.ms.app.model.entity.OperationLog;
 import com.qyft.ms.app.model.form.CMDForm;
 import com.qyft.ms.app.model.vo.ExecutionResult;
+import com.qyft.ms.device.service.DeviceTcpCMDService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
-import java.util.ArrayList;
+import java.awt.*;
+import java.util.*;
 import java.util.List;
+import java.util.function.Function;
 import java.util.function.Supplier;
 
+import static com.qyft.ms.app.common.generator.PathGenerator.generatePathPoints;
+
 @Slf4j
 @RequiredArgsConstructor
 @Service
 public class CMDService {
 
     private final WebSocketService webSocketService;
-    CMDForm form;
+    private final DeviceTcpCMDService deviceTcpCMDService;
+    private final OperationLogService operationLogService;
+    private final MatrixCraftService matrixCraftService;
+
+
+    private void initExecutorThread(List<Supplier<Boolean>> cmdList, CMDForm form) {
+        new Thread(() -> run(cmdList, form)).start();
+    }
+
+// 电机移动
+    public boolean moveMotorToPosition(CMDForm form) {
+        Map<String, Object> params = form.getParams();
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        String axis = (String) params.get("axis");
+        double position = Optional.ofNullable(params.get("position"))
+                .filter(Number.class::isInstance)
+                .map(Number.class::cast)
+                .map(Number::doubleValue)
+                .orElse(0.0);
+        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition(axis, position));
+        initExecutorThread(cmdList, form);
+        return true;
+    };
+
+    // 切换清洗管路/喷涂管路
+    public boolean switchThreeWayValve(CMDForm form) {
+        Map<String, Object> params = form.getParams();
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        String type = (String) params.get("type");
+        if (type.equals("clean")) {
+            cmdList.add(deviceTcpCMDService::switchThreeWayValveToSubstrate);
+        } else if (type.equals("spray")) {
+            cmdList.add(deviceTcpCMDService::switchThreeWayValveToSpray);
+        }
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
+    // 除湿阀、清洗阀、喷嘴阀控制方法
+    public boolean controlValve(CMDForm form) {
+        Map<String, Object> params = form.getParams();
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+       if(params.get("valveType") !=null && params.get("isOpen") !=null) {
+           String valveType = (String) params.get("valveType");
+           boolean isOpen = (boolean) params.get("isOpen");
+           cmdList.add(() -> deviceTcpCMDService.controlValve(valveType,isOpen));
+       }
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
+    // 以指定电压值开启高压电
+    public boolean turnOnHighVoltage(CMDForm form) {
+        Map<String, Object> params = form.getParams();
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        double voltage = Optional.ofNullable(params.get("voltage"))
+                .filter(Number.class::isInstance)
+                .map(Number.class::cast)
+                .map(Number::doubleValue)
+                .orElse(0.0);
+            cmdList.add(() -> deviceTcpCMDService.turnOnHighVoltage(voltage));
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
+    // 关闭高压电
+    public boolean turnOffHighVoltage(CMDForm form) {
+        Map<String, Object> params = form.getParams();
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(deviceTcpCMDService::turnOffHighVoltage);
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
+    // 以指定转速、方向和时间开启注射泵
+    public boolean turnOnSyringePump(CMDForm form) {
+        Map<String, Object> params = form.getParams();
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        double rotationSpeed = Optional.ofNullable(params.get("rotationSpeed"))
+                .filter(Number.class::isInstance)
+                .map(Number.class::cast)
+                .map(Number::doubleValue)
+                .orElse(0.0);
+        double time = Optional.ofNullable(params.get("time"))
+                .filter(Number.class::isInstance)
+                .map(Number.class::cast)
+                .map(Number::doubleValue)
+                .orElse(0.0);
+        String direction = (String) params.get("direction");
+        cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(rotationSpeed, direction, time));
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
+    // 停止注射泵
+    public boolean turnOffSyringePump(CMDForm form) {
+        Map<String, Object> params = form.getParams();
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(deviceTcpCMDService::turnOffSyringePump);
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
+    // 设置指定轴的电机运行时电流
+    public boolean setMotorRunningCurrent(CMDForm form) {
+        Map<String, Object> params = form.getParams();
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        String axis = (String) params.get("axis");
+        double current = Optional.ofNullable(params.get("current"))
+                .filter(Number.class::isInstance)
+                .map(Number.class::cast)
+                .map(Number::doubleValue)
+                .orElse(0.0);
+        cmdList.add(() -> deviceTcpCMDService.setMotorRunningCurrent(axis, current));
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
+    // 开始喷涂
+    public boolean startWork(CMDForm form) {
+        Map<String, Object> params = form.getParams();
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        // 托盘位置
+        Map<String, Integer> trayPosition = new HashMap<>();
+        trayPosition.put("x", 0);
+        trayPosition.put("y", 0);
+        trayPosition.put("z", 0);
+        int space = (Integer) params.get("space");
+        List<Map<String, Integer>> position = (List<Map<String, Integer>>) params.get("position");
+        Map<String, Integer> p1 = position.get(0);
+        Map<String, Integer> p2 = position.get(1);
+        // 托盘点位 x y z
+        int left = trayPosition.get("x")+ p1.get("x");
+        int right = trayPosition.get("x") + p2.get("x");
+        int top = trayPosition.get("y") + p2.get("y");
+        int bottom = trayPosition.get("y") + p1.get("y");
+        // 获取轨迹list
+        int direction = (Integer) params.get("direction");
+        List<Point> horizontalPath = generatePathPoints(
+                left, right, bottom, top, space, direction == 1 ? PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN : PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
+        );
+
+        // 将三通阀转至喷涂管路
+        cmdList.add(deviceTcpCMDService::switchThreeWayValveToSpray);
+        // 设置指定轴的电机的运行速度
+        int setMotorSpeed = (Integer) params.get("setMotorSpeed");
+        cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("x", setMotorSpeed));
+        cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("y", setMotorSpeed));
+        cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("z", setMotorSpeed));
+        // 移动到指定高度(位置)
+        int height  = (Integer) params.get("height");
+        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("z",trayPosition.get("z") + height ));
+        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("x", left));
+        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("y", top));
 
-    private void run(List<Supplier<Boolean>> cmdList) {
+        // 是否加电 电压
+        Object voltage = params.get("voltage");
+        if (voltage instanceof Integer) {
+            cmdList.add(() -> deviceTcpCMDService.turnOnHighVoltage( (Integer) voltage));
+        }
+        // 开启喷嘴阀
+        cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
+        // 推注射泵
+        cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(100, "right", 5000));
+
+        // 插入日志
+        cmdList.add( () -> {
+            OperationLog operationLog = new OperationLog();
+            operationLog.setStatus(0);
+            operationLog.setMatrixId((Long) params.get("matrixCraftId"));
+            operationLog.setMatrixInfo(JSON.toJSONString(params));
+            operationLogService.add(operationLog);
+            return true;
+        });
+        // 执行轨迹
+        double curX = left;
+        double curY = top;
+        for (Point point : horizontalPath) {
+            double nextX = (int) point.getX();
+            double nextY = (int) point.getY();
+            double distanceX = nextX - curX;
+            double distanceY = nextY - curY;
+            cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("x", distanceX));
+            cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("y", distanceY));
+            curX = nextX;
+            curY = nextY;
+        }
+        // 停止喷涂
+        cmdList.add(deviceTcpCMDService::turnOffSyringePump);
+        // 关闭喷嘴阀
+        cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
+        // 回到原点
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Y"));
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
+        // 结束日志
+        cmdList.add( () -> {
+            OperationLog operationLog = operationLogService.getIng();
+            operationLog.setStatus(1);
+            operationLogService.updateById(operationLog);
+            return true;
+        });
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
+    // 结束喷涂
+    public boolean stopWork(CMDForm form) {
+        Map<String, Object> params = form.getParams();
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        // 停止喷涂
+        cmdList.add(deviceTcpCMDService::turnOffSyringePump);
+        // 关闭喷嘴阀
+        cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
+        // 回到原点
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
+    // 测试轴转动
+    public boolean rotate(CMDForm form) {
+        Map<String, Object> params = form.getParams();
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        String axis = (String) params.get("axis");
+        double rotationSpeed = Optional.ofNullable(params.get("rotationSpeed"))
+                .filter(Number.class::isInstance)
+                .map(Number.class::cast)
+                .map(Number::doubleValue)
+                .orElse(0.0);
+        int time = (Integer) params.get("time");
+        cmdList.add(() -> deviceTcpCMDService.rotate(axis, rotationSpeed, time));
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
+
+    private void run(List<Supplier<Boolean>> cmdList, CMDForm form) {
         ExecutionResult executionResult = new ExecutionResult();
         executionResult.setCommandId(form.getCommandId());
-        executionResult.setCommandName(form.getCommand());
+        executionResult.setCommandName(form.getCommandName());
 
         // 执行所有命令
         for (Supplier<Boolean> command : cmdList) {
@@ -38,17 +281,9 @@ public class CMDService {
                 return;
             }
         }
+        log.info("指令执行成功: {}", JSONUtil.toJsonStr(form));
         executionResult.setStatus(CMDResultCode.SUCCESS.getCode());
         executionResult.setMessage(CMDResultCode.SUCCESS.getMsg());
         webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
     }
-
-    public boolean executeCommand(CMDForm cmdForm) {
-        List<Supplier<Boolean>> cmdList = new ArrayList<>();
-        new Thread(() -> run(cmdList)).start();
-        return false;
-    }
-
-
-
 }

src/main/java/com/qyft/ms/app/service/ILogsService.java

@@ -1,11 +0,0 @@
-package com.qyft.ms.app.service;
-
-import com.baomidou.mybatisplus.extension.service.IService;
-import com.qyft.ms.app.model.entity.Logs;
-
-/**
- * 日志业务接口
- */
-public interface ILogsService extends IService<Logs> {
-    int insertLog(String log);
-}

src/main/java/com/qyft/ms/app/service/ISysSettingsService.java

@@ -14,11 +14,4 @@ import java.util.List;
  */
 public interface ISysSettingsService extends IService<SysSettings> {
 
-    List<SysSettingVO> getConfig(String type);
-
-    List<SysSettingResult> getAllConfig();
-
-    Boolean updateConfig(List<SysSettingsDTO> dto);
-
-    boolean setSysDate(String newTime);
 }

src/main/java/com/qyft/ms/app/service/MatrixCraftService.java

@@ -0,0 +1,25 @@
+package com.qyft.ms.app.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.qyft.ms.app.model.dto.MatrixCraftDTO;
+import com.qyft.ms.app.model.entity.MatrixCraft;
+
+import java.util.List;
+
+
+/**
+ * 日志业务接口
+ */
+public interface MatrixCraftService extends IService<MatrixCraft> {
+
+    Integer add(MatrixCraftDTO dto);
+
+    MatrixCraft getCraftById(Long id);
+
+    List<MatrixCraft> getListByMatrixId(Long matrixId);
+
+
+    Boolean updateMatrixCraft(MatrixCraft matrixCraft);
+
+    Boolean deleteMatrixCraft(String ids);
+}

src/main/java/com/qyft/ms/app/service/MatrixService.java

@@ -0,0 +1,14 @@
+package com.qyft.ms.app.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.qyft.ms.app.model.entity.Matrix;
+
+
+/**
+ * 日志业务接口
+ */
+public interface MatrixService extends IService<Matrix> {
+    int addMatrix(Matrix matrix);
+    boolean updateMatrix(Matrix matrix);
+    boolean deleteMatrix(String ids);
+}

src/main/java/com/qyft/ms/app/service/OperationLogService.java

@@ -0,0 +1,22 @@
+package com.qyft.ms.app.service;
+
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.qyft.ms.app.model.entity.OperationLog;
+import com.qyft.ms.system.common.base.BasePageQuery;
+
+
+/**
+ * 日志业务接口
+ */
+public interface OperationLogService extends IService<OperationLog> {
+    Integer add(OperationLog operationLog);
+
+    OperationLog getLogById(Integer id);
+
+    Boolean deleteLog(String ids);
+
+    IPage<OperationLog> getAll(BasePageQuery pageQuery);
+
+    OperationLog getIng();
+}

src/main/java/com/qyft/ms/app/service/StatusService.java

@@ -3,6 +3,7 @@ package com.qyft.ms.app.service;
 import com.qyft.ms.app.common.constant.WebSocketMessageType;
 import com.qyft.ms.device.model.bo.DeviceStatus;
 import com.qyft.ms.device.service.DeviceStatusService;
+import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
@@ -19,7 +20,7 @@ public class StatusService {
     private final WebSocketService webSocketService;
     private final DeviceStatusService deviceStatusService;
 
-//    @PostConstruct
+    @PostConstruct
     public void init() {
         ScheduledExecutorService executorService = Executors.newSingleThreadScheduledExecutor();
         executorService.scheduleAtFixedRate(() -> {

src/main/java/com/qyft/ms/app/service/impl/ILogsServiceImpl.java

@@ -1,29 +0,0 @@
-package com.qyft.ms.app.service.impl;
-
-import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import com.qyft.ms.app.mapper.LogsMapper;
-import com.qyft.ms.app.model.entity.Logs;
-import com.qyft.ms.app.service.ILogsService;
-import com.qyft.ms.system.model.entity.User;
-import com.qyft.ms.system.service.IUserService;
-import lombok.RequiredArgsConstructor;
-import org.springframework.stereotype.Service;
-
-/**
- * 实验业务实现类
- */
-@Service
-@RequiredArgsConstructor
-public class ILogsServiceImpl extends ServiceImpl<LogsMapper, Logs> implements ILogsService {
-    private final LogsMapper logsMapper;
-    private final IUserService userService;
-
-    @Override
-    public int insertLog(String log) {
-        Logs logs = new Logs();
-        logs.setText(log);
-        User user = userService.currentUser();
-        logs.setCreateUser(user.getId());
-        return logsMapper.insert(logs);
-    }
-}

src/main/java/com/qyft/ms/app/service/impl/ISysSettingsServiceImpl.java

@@ -19,57 +19,6 @@ import java.util.List;
 @Service
 @RequiredArgsConstructor
 public class ISysSettingsServiceImpl extends ServiceImpl<SysSettingsMapper, SysSettings> implements ISysSettingsService {
-    private final SysSettingsMapper sysSettingsMapper;
 
-    @Override
-    public List<SysSettingVO> getConfig(String type) {
-        int parentId = sysSettingsMapper.getIdByCode(type);
-        return sysSettingsMapper.getConfig(String.valueOf(parentId));
-    }
-
-    @Override
-    public List<SysSettingResult> getAllConfig() {
-        List<SysSettingVO> list = sysSettingsMapper.getConfig("-1");
-        List<SysSettingResult> result = new ArrayList<>();
-        for (SysSettingVO sysSettings : list) {
-            List<SysSettingVO> childrenList = sysSettingsMapper.getConfig(String.valueOf(sysSettings.getId()));
-            SysSettingResult map = new SysSettingResult();
-            map.setName(sysSettings.getName());
-            map.setCode(sysSettings.getCode());
-            map.setId(sysSettings.getId());
-            map.setValue(sysSettings.getValue());
-            map.setHardwareId(sysSettings.getHardwareId());
-            map.setChildren(childrenList);
-            result.add(map);
-        }
-        return result;
-    }
-
-    @Override
-    public Boolean updateConfig(List<SysSettingsDTO> dto) {
-        for (SysSettingsDTO sysSettingsDTO : dto) {
-            sysSettingsMapper.updateById(sysSettingsDTO);
-        }
-        return true;
-    }
-
-    /**
-     * 修改服务器系统时间
-     *
-     * @param newTime 时间字符串 YYYY-MM-DD HH:mm:ss
-     * @return 是否修改成功
-     */
-    @Override
-    public boolean setSysDate(String newTime) {
-        try {
-            String command = "date -s \"" + newTime + "\"";
-            Process process = Runtime.getRuntime().exec(command);
-            int exitCode = process.waitFor();
-            return exitCode == 0;
-        } catch (Exception e) {
-            log.error("修改系统时间失败", e);
-            return false;
-        }
-    }
 
 }

src/main/java/com/qyft/ms/app/service/impl/MatrixCraftServiceImpl.java

@@ -0,0 +1,49 @@
+package com.qyft.ms.app.service.impl;
+
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.qyft.ms.app.mapper.MatrixCraftMapper;
+import com.qyft.ms.app.model.dto.MatrixCraftDTO;
+import com.qyft.ms.app.model.entity.MatrixCraft;
+import com.qyft.ms.app.service.MatrixCraftService;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+import java.util.Arrays;
+import java.util.List;
+import java.util.stream.Collectors;
+
+/**
+ * 基质业务实现类
+ */
+@Service
+@RequiredArgsConstructor
+public class MatrixCraftServiceImpl extends ServiceImpl<MatrixCraftMapper, MatrixCraft> implements MatrixCraftService {
+    private final MatrixCraftMapper matrixCraftMapper;
+    @Override
+    public Integer add(MatrixCraftDTO dto) {
+        return matrixCraftMapper.add(dto);
+    }
+
+    @Override
+    public MatrixCraft getCraftById(Long id) {
+        return matrixCraftMapper.selectById(id);
+    }
+
+    @Override
+    public List<MatrixCraft> getListByMatrixId(Long matrixId) {
+        return matrixCraftMapper.getListByMatrixId(matrixId);
+    }
+
+    @Override
+    public Boolean updateMatrixCraft(MatrixCraft matrixCraft) {
+        return matrixCraftMapper.updateById(matrixCraft) > 0;
+    }
+
+    @Override
+    public Boolean deleteMatrixCraft(String ids) {
+        List<Long> idsArr = Arrays.stream(ids.split(","))
+                .map(Long::parseLong)
+                .collect(Collectors.toList());
+        return this.removeByIds(idsArr);
+    }
+}

src/main/java/com/qyft/ms/app/service/impl/MatrixServiceImpl.java

@@ -0,0 +1,40 @@
+package com.qyft.ms.app.service.impl;
+
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.qyft.ms.app.mapper.MatrixMapper;
+import com.qyft.ms.app.model.entity.Matrix;
+import com.qyft.ms.app.service.MatrixService;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+import java.util.Arrays;
+import java.util.List;
+import java.util.stream.Collectors;
+
+/**
+ * 基质业务实现类
+ */
+@Service
+@RequiredArgsConstructor
+public class MatrixServiceImpl extends ServiceImpl<MatrixMapper, Matrix> implements MatrixService {
+
+    private final MatrixMapper matrixMapper;
+    @Override
+    public int addMatrix(Matrix matrix) {
+        return matrixMapper.insert(matrix);
+    }
+
+    @Override
+    public boolean updateMatrix(Matrix matrix) {
+       return matrixMapper.updateById(matrix) > 0;
+
+    }
+
+    @Override
+    public boolean deleteMatrix(String ids) {
+        List<Long> idsArr = Arrays.stream(ids.split(","))
+                .map(Long::parseLong)
+                .collect(Collectors.toList());
+        return this.removeByIds(idsArr);
+    }
+}

src/main/java/com/qyft/ms/app/service/impl/OperationLogServiceImpl.java

@@ -0,0 +1,59 @@
+package com.qyft.ms.app.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.qyft.ms.app.mapper.OperationLogMapper;
+import com.qyft.ms.app.model.entity.OperationLog;
+import com.qyft.ms.app.service.OperationLogService;
+import com.qyft.ms.system.common.base.BasePageQuery;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+import java.util.Arrays;
+import java.util.List;
+import java.util.stream.Collectors;
+
+/**
+ * 基质业务实现类
+ */
+@Service
+@RequiredArgsConstructor
+public class OperationLogServiceImpl extends ServiceImpl<OperationLogMapper, OperationLog> implements OperationLogService {
+private final OperationLogMapper operationLogMapper;
+    @Override
+    public Integer add(OperationLog operationLog) {
+        return operationLogMapper.insert(operationLog);
+    }
+
+    @Override
+    public OperationLog getLogById(Integer id) {
+        return operationLogMapper.selectById(id);
+    }
+
+    @Override
+    public Boolean deleteLog(String ids) {
+        List<Long> idsArr = Arrays.stream(ids.split(","))
+                .map(Long::parseLong)
+                .collect(Collectors.toList());
+        return this.removeByIds(idsArr);
+    }
+
+    @Override
+    public IPage<OperationLog> getAll(BasePageQuery pageQuery) {
+        // 构建分页对象
+        Page<OperationLog> page = new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize());
+
+        QueryWrapper<OperationLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.in("status", 1);
+        return operationLogMapper.selectPage(page, queryWrapper);
+    }
+
+    @Override
+    public OperationLog getIng() {
+        QueryWrapper<OperationLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.in("status", 0);
+        return operationLogMapper.selectOne(queryWrapper);
+    }
+}

src/main/java/com/qyft/ms/device/common/constant/DeviceCommands.java

@@ -34,5 +34,6 @@ public class DeviceCommands {
     public static final String SET_SYRINGE_PUMP_PARAMETERS = "setSyringePumpParameters";
     // 推送指定容量的液体
     public static final String PUSH_VOLUME = "pushVolume";
+    public static final String ROTATE = "rotate";
 
 }

src/main/java/com/qyft/ms/device/model/bo/DeviceStatus.java

@@ -9,5 +9,42 @@ import lombok.Data;
 @Schema(description = "设备当前传感器状态")
 @Data
 public class DeviceStatus {
+    // 急停信号
+    private boolean emergencyStop;
+    // 暂停信号
+    private boolean pause;
 
+    // X 轴电机状态
+    private double xAxisPosition;
+    private double xAxisSpeed;
+    private boolean xAxisMovementEnded;
+    private boolean xAxisAtOrigin;
+    private boolean xAxisLimited;
+
+    // Y 轴电机状态
+    private double yAxisPosition;
+    private double yAxisSpeed;
+    private boolean yAxisMovementEnded;
+    private boolean yAxisAtOrigin;
+    private boolean yAxisLimited;
+
+    // Z 轴电机状态
+    private double zAxisPosition;
+    private double zAxisSpeed;
+    private boolean zAxisMovementEnded;
+    private boolean zAxisAtOrigin;
+    private boolean zAxisLimited;
+
+    // 三通阀状态
+    private String threeWayValvePosition;
+
+    // 流量计状态
+    private double flowRate;
+
+    // 温湿度传感器状态
+    private double temperature;
+    private double humidity;
+
+    // 注射泵状态
+    private boolean syringePumpNormal;
 }

src/main/java/com/qyft/ms/device/service/DeviceTcpCMDService.java

@@ -142,7 +142,7 @@ public class DeviceTcpCMDService {
 
     // 三通阀控制方法
     /**
-     * 切换三通阀到基质状态
+     * 切换三通阀到清洗状态
      * @return 操作是否成功
      */
     public boolean switchThreeWayValveToSubstrate() {
@@ -160,14 +160,15 @@ public class DeviceTcpCMDService {
     // 除湿阀、清洗阀、喷嘴阀控制方法
     /**
      * 控制指定阀的开启或关闭
-     * @param valveType 阀类型，可选值为 "Dehumidification", "Cleaning", "Nozzle"
-     * @param isOpen 是否开启，true 为开启，false 为关闭
+     *  valveType 阀类型，可选值为 "Dehumidification", "Cleaning", "Nozzle"
+     *  isOpen 是否开启，true 为开启，false 为关闭
      * @return 操作是否成功
      */
     public boolean controlValve(String valveType, boolean isOpen) {
         Map<String, Object> params = new HashMap<>();
         params.put("valveType", valveType);
         params.put("isOpen", isOpen);
+
         return this.putTask(DeviceCommands.CONTROL_VALVE, params);
     }
 
@@ -258,4 +259,12 @@ public class DeviceTcpCMDService {
         params.put("volume", volume);
         return this.putTask(DeviceCommands.PUSH_VOLUME, params);
     }
+
+    public boolean rotate(String axis, double rotationSpeed, int time) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("axis", axis);
+        params.put("rotationSpeed", rotationSpeed);
+        params.put("time", time);
+        return this.putTask(DeviceCommands.ROTATE, params);
+    }
 }

src/main/resources/application.yml

@@ -35,7 +35,7 @@ jwt:
 #与设备TCP链接
 tcp:
   enable: false    # 是否开启 TCP 连接
-  host: 127.0.0.1
+  host: 192.168.1.130
   port: 9080
   reconnect: 5000  # 断线重连间隔（单位：毫秒）
   timeout: 10000   # 连接超时时间（单位：毫秒）

src/main/resources/mapper/SysSettingsMapper.xml

@@ -1,30 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.qyft.ms.app.mapper.SysSettingsMapper">
-    <select id="getConfig" resultType="com.qyft.ms.app.model.vo.SysSettingVO">
-        select
-            id,
-            parent_id,
-            code, name,
-            value1 as value,
-            value2 as hardwareId,
-            value3 as temperature,
-            value4 as craftId
-        from sys_settings where parent_id = #{parentId}
-    </select>
-    <select id="getIdByCode" resultType="java.lang.Integer">
-        select id from sys_settings where code = #{type}
-    </select>
-
-    <update id="updateById">
-        UPDATE sys_settings
-        SET
-            value1 = CASE WHEN #{value} IS NOT NULL THEN #{value} ELSE value1 END,
-            value3 = CASE WHEN #{temperature} IS NOT NULL THEN #{temperature} ELSE value3 END,
-            value4 = CASE WHEN #{craftId} IS NOT NULL THEN #{craftId} ELSE value4 END
-        WHERE id = #{id}
-    </update>
-
-
-
-</mapper>

src/main/resources/mapper/app/MatrixCraftMapper.xml

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.qyft.ms.app.mapper.MatrixCraftMapper">
+    <select id="getListByMatrixId" resultType="com.qyft.ms.app.model.entity.MatrixCraft">
+        select *
+        from matrix_craft where matrix_id = #{matrixId}
+    </select>
+<insert id="add" >
+    insert into matrix_craft(name,matrix_id,route_type,height,nitrogen_flow_velocity,nitrogen_air_pressure,matrix_flow_velocity,voltage,movement_speed,space,create_user)
+    values(#{name},#{matrixId},#{routeType},#{height},#{nitrogenFlowVelocity},#{nitrogenAirPressure},#{matrixFlowVelocity},#{voltage},#{movementSpeed},#{space},#{createUser})
+</insert>
+
+
+</mapper>

src/main/resources/mapper/app/OperationLogMapper.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.qyft.ms.app.mapper.OperationLogMapper">
+    <select id="selectAll" resultType="com.qyft.ms.app.model.entity.OperationLog">
+        select *
+        from operation_log where status = 1
+    </select>
+    <select id="selectIng" resultType="com.qyft.ms.app.model.entity.OperationLog">
+        select *
+        from operation_log where status = 0
+    </select>
+</mapper>

src/main/resources/mapper/app/SysSettingsMapper.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.qyft.ms.app.mapper.SysSettingsMapper">
+</mapper>